相关论文: ROAD-R: The Autonomous Driving Dataset with Logica…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

Autonomous vehicles (AVs) can significantly promote the advances in road transport mobility in terms of safety, reliability, and decarbonization. However, ensuring safety and efficiency in interactive during within dynamic and diverse…

The behavior of self-driving cars must be compatible with an enormous set of conflicting and ambiguous objectives, from law, from ethics, from the local culture, and so on. This paper describes a new way to conveniently define the desired…

Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to better comprehend the intentions of the surrounding traffic,…

Reinforcement learning (RL) enables agents to learn optimal behaviors through interaction with their environment and has been increasingly deployed in safety-critical applications, including autonomous driving. Despite its promise, RL is…

In the event of sensor failure, autonomous vehicles need to safely execute emergency maneuvers while avoiding other vehicles on the road. To accomplish this, the sensor-failed vehicle must predict the future semantic behaviors of other…

This paper describes a verification case study on an autonomous racing car with a neural network (NN) controller. Although several verification approaches have been proposed over the last year, they have only been evaluated on…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

In a typical traffic scenario, autonomous vehicles are required to share the road with other road participants, e.g., human driven vehicles, pedestrians, etc. To successfully navigate the traffic, a cognitive hierarchy theory such as…

Lane-changing (LC) behavior, a critical yet complex driving maneuver, significantly influences driving safety and traffic dynamics. Traditional analytical LC decision (LCD) models, while effective in specific environments, often…

Safe path planning in autonomous driving is a complex task due to the interplay of static scene elements and uncertain surrounding agents. While all static scene elements are a source of information, there is asymmetric importance to the…

Autonomous driving is rapidly advancing, and Level 2 functions are becoming a standard feature. One of the foremost outstanding hurdles is to obtain robust visual perception in harsh weather and low light conditions where accuracy…

Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the…

The rapid adoption of micromobility solutions, particularly two-wheeled vehicles like e-scooters and e-bikes, has created an urgent need for reliable autonomous riding (AR) technologies. While autonomous driving (AD) systems have matured…

For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…

While several datasets for autonomous navigation have become available in recent years, they tend to focus on structured driving environments. This usually corresponds to well-delineated infrastructure such as lanes, a small number of…

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately…